Accurate positioning control method and device for vehicle-mounted unmanned aerial vehicle

Abstract

The invention provides a vehicle-mounted unmanned aerial vehicle accurate positioning control method and device, and the method comprises the steps: obtaining the real-time position and real-time speed of an unmanned aerial vehicle end when it is determined that the unmanned aerial vehicle end is separated from a storage and transportation box to execute a flight task, carrying out RTK differential processing on the real-time position of the unmanned aerial vehicle end to obtain a positioning position of the unmanned aerial vehicle end; according to the time difference, the gravitational acceleration, the real-time acceleration vector of the vehicle-mounted end, the real-time attitude matrix vector of the vehicle-mounted end, the positioning position of the unmanned aerial vehicle end and the real-time speed of the unmanned aerial vehicle end, the actual accurate position of the unmanned aerial vehicle end is obtained through calculation. According to the accurate positioning control method for the vehicle-mounted unmanned aerial vehicle, RTK differential processing and positioning compensation can be carried out on the vehicle end real-time position of the unmanned aerial vehicle end, so that the actual accurate position of the unmanned aerial vehicle end is obtained, and the unmanned aerial vehicle end is accurately navigated to accurately land into the storage and transportation box of the vehicle-mounted end.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle-mounted unmanned aerial vehicle, and particularly to a vehicle-mounted unmanned aerial vehicle precise positioning control method and a vehicle-mounted unmanned aerial vehicle precise positioning control device. BACKGROUND

[0002] An unmanned aerial vehicle, referred to as "UAV" in English, is a pilotless aircraft that is controlled by wireless remote control equipment and self-provided program control device, or is completely or intermittently operated by an on-board computer. Since the unmanned aerial vehicle does not need to be piloted and is small in size, it can be used as a reconnaissance aircraft and a target aircraft in military use, and can be widely used in the fields of aerial photography, agriculture, plant protection, micro-selfie, express delivery, disaster rescue, observation of wild animals, monitoring of infectious diseases, surveying and mapping, news reporting, power patrol, disaster relief, film and television shooting, etc. in civil use.

[0003] In order to further expand the application range of the unmanned aerial vehicle, a vehicle and an unmanned aerial vehicle are combined to form a vehicle-mounted unmanned aerial vehicle system, that is, the vehicle-mounted unmanned aerial vehicle takes the vehicle as a working platform of the unmanned aerial vehicle, and realizes autonomous take-off and landing operation of the unmanned aerial vehicle by mounting a modular unmanned aerial vehicle mobile airport on the vehicle. After the unmanned aerial vehicle completes autonomous take-off on the vehicle-mounted platform, it can complete tasks such as autonomous following, monitoring, reconnaissance, and patrol according to needs; when the unmanned aerial vehicle has low power or the user issues a return instruction, the unmanned aerial vehicle can follow the moving vehicle-mounted platform to complete autonomous tracking positioning and landing. The vehicle-mounted unmanned aerial vehicle system has the advantages of flexibility of the unmanned aerial vehicle and long-distance movement of the command vehicle, can well compensate for the shortcomings of short endurance time and small flight radius of the current unmanned aerial vehicle, and greatly saves operation time.

[0004] In the process of landing the unmanned aerial vehicle on the vehicle-mounted platform, the existing vehicle-mounted unmanned aerial vehicle system detects and locates the position of the vehicle-mounted platform through a visual positioning module mounted on the unmanned aerial vehicle, so as to guide and navigate the unmanned aerial vehicle to land on the vehicle-mounted platform autonomously. However, the detection result of the visual positioning module for positioning the vehicle-mounted platform is affected by environmental factors such as light change and space shielding, thereby reducing the accuracy of visual positioning, leading to the phenomenon that the target is easily lost in visual positioning, and further reducing the success rate of the unmanned aerial vehicle landing on the vehicle-mounted platform. SUMMARY

[0005] The first object of the present application is to provide a vehicle-mounted unmanned aerial vehicle precise positioning control method, which can perform RTK differential processing and positioning compensation on the real-time position of the machine end of the unmanned aerial vehicle end, so as to accurately position the actual accurate position of the unmanned aerial vehicle end, accurately guide the unmanned aerial vehicle end to land in the storage box of the vehicle end, and further improve the accuracy of autonomous landing of the vehicle-mounted unmanned aerial vehicle.

[0006] The second purpose of the present invention is to provide a vehicle-mounted UAV precise positioning control device, which can perform RTK differential processing and positioning compensation on the real-time position of the UAV end, thereby accurately locating the actual precise position of the UAV end, and accurately navigating the UAV end to accurately land in the storage and transportation box on the vehicle end, thereby improving the accuracy of the vehicle-mounted UAV's autonomous landing.

[0007] In order to achieve the first purpose of the present invention, the present invention provides a method for accurately positioning and controlling a vehicle-mounted drone. The vehicle-mounted drone system includes a vehicle-mounted terminal and a drone terminal. The vehicle-mounted terminal is provided with a storage and transportation box, and the drone terminal can be located in the storage and transportation box. The method for accurately positioning and controlling a vehicle-mounted drone includes: when it is determined that the drone terminal is separated from the storage and transportation box to perform a flight mission, obtaining the real-time position of the drone terminal and real-time speed on the machine side , real-time location of the device Perform RTK differential processing to obtain the drone's end-to-end positioning position ; Based on the time difference , gravitational acceleration , real-time acceleration vector of the vehicle , real-time posture matrix vector of the vehicle terminal , machine end positioning position And the real-time speed of the machine , calculate and obtain the actual precise position of the drone ; Time difference It is the time difference between the drone end and the vehicle end.

[0008] From the above scheme, it can be seen that the vehicle-mounted UAV precise positioning control method of the present invention first calculates the real-time position of the UAV terminal. Perform RTK differential processing to obtain the drone's end-to-end positioning position , so that the drone end can locate the position Achieve centimeter-level precision positioning, and then based on the time difference , gravitational acceleration , real-time acceleration vector of the vehicle , real-time posture matrix vector of the vehicle terminal , machine end positioning position And the real-time speed of the machine Calculate and obtain the actual precise position of the drone , which is the time difference between the drone end and the vehicle end data information The driving dynamics of the vehicle and the flight dynamics of the drone affect the positioning of the drone. Perform positioning compensation calculation to obtain the actual precise position of the drone , further making the actual precise position of the drone end The precision positioning can reach 1-2 cm level, and the unmanned aerial vehicle end can be precisely landed into the storage and transportation box of the vehicle end, thereby guaranteeing the precision positioning control method of the vehicle-mounted unmanned aerial vehicle. The RTK differential processing and positioning compensation are performed to precisely position the actual precise position of the unmanned aerial vehicle end , the unmanned aerial vehicle end is precisely navigated and landed into the storage and transportation box of the vehicle end, and the precision of the autonomous landing of the vehicle-mounted unmanned aerial vehicle is improved.

[0009] One preferred scheme is that the actual precise position .

[0010] A further scheme is that when it is determined that the unmanned aerial vehicle end is separated from the storage and transportation box to perform a flight task, the magnetic force device of the unmanned aerial vehicle end is turned on; and / or when it is determined that the unmanned aerial vehicle end is located in the storage and transportation box, the magnetic force device of the unmanned aerial vehicle end is turned off; the magnetic force device is used to position the direction of the unmanned aerial vehicle end.

[0011] From the above scheme, when it is determined that the unmanned aerial vehicle end is separated from the storage and transportation box to perform a flight task, the magnetic force device of the unmanned aerial vehicle end is turned on, so that the magnetic force device of the unmanned aerial vehicle end performs positioning and navigation, to enable the unmanned aerial vehicle end to autonomously position and navigate to perform a flight task. When it is determined that the unmanned aerial vehicle end is located in the storage and transportation box, the magnetic force device of the unmanned aerial vehicle end is turned off, thereby avoiding that the data acquisition and transmission between the vehicle end and the unmanned aerial vehicle end are interfered by the strong magnetic interference generated by the opening of the magnetic sensor, and then the data acquisition and transmission can be quickly performed, to ensure that the unmanned aerial vehicle end normally and quickly takes off.

[0012] A further scheme is that the precision positioning control method of the vehicle-mounted unmanned aerial vehicle further includes: acquiring the real-time position , the real-time speed and the real-time heading information of the vehicle end; when it is determined that the storage and transportation box is opened and the unmanned aerial vehicle end is ready to take off, the unmanned aerial vehicle end performs an initialization operation to acquire the initialization position , the initialization speed and the initialization heading information of the unmanned aerial vehicle end, and simultaneously acquires the initialization pitch angle and the initialization roll angle of the unmanned aerial vehicle end, and then the unmanned aerial vehicle end takes off based on the initialization position , the initialization speed , the initialization heading information, the initialization pitch angle and the initialization roll angle to separate from the storage and transportation box; the initialization operation includes: taking the current real-time position of the vehicle as the initialization position of the unmanned aerial vehicle end, taking the current real-time speed of the vehicle as the initialization speed The current vehicle real-time heading information is taken as the initialization heading information of the UAV end.

[0013] A further solution is that when it is determined that the storage box is opened and the UAV end is ready for take-off, the UAV end acquires the real-time ephemeris information and real-time observation information of the vehicle end, so that the UAV end is in a hot start state.

[0014] From the above solution, it can be seen that the UAV end acquires the real-time ephemeris information and real-time observation information of the current vehicle end, so that the UAV end is in a hot start state, so that the UAV end does not need to perform self-star searching operation, directly acquires the current real-time ephemeris information and real-time observation information from the vehicle end, so that the UAV end can quickly search for stars to acquire the current real-time ephemeris information and real-time observation information, so that the UAV end can quickly position, and the function of quick take-off is realized.

[0015] In order to realize the second object of the present application, the present application provides a vehicle-mounted UAV precise positioning control device, which comprises a vehicle-mounted UAV system, the vehicle-mounted UAV system comprising a vehicle end and a UAV end, the vehicle end being provided with a storage box, a double-antenna GNSS device and a vehicle end IMU device, the UAV end being located in the storage box, and the UAV end being provided with a machine end GNSS device, the machine end GNSS device and the double-antenna GNSS device transmitting data information to each other; when it is determined that the UAV end is separated from the storage box to perform a flight task, the machine end GNSS device acquires a machine end real-time position and a machine end real-time speed of the UAV end, an RTK module of the UAV end performs RTK differential processing on the machine end real-time position to acquire a machine end positioning position of the UAV end; according to a time difference , a gravitational acceleration , a real-time acceleration vector of the vehicle end, a real-time attitude matrix vector of the vehicle end, the machine end positioning position and the machine end real-time speed , a vehicle end IMU device calculates an actual precise position of the UAV end; wherein the vehicle end IMU device is used to acquire the real-time acceleration vector and the real-time attitude matrix vector , and a differential module of the UAV end acquires a time difference of the machine end GNSS device receiving data information of the double-antenna GNSS device.

[0016] From the above solution, it can be seen that the vehicle-mounted UAV precise positioning control device first performs RTK differential processing on the machine end real-time position of the UAV end to acquire the machine end positioning position So that the UAV end positioning position Achieve centimeter level precision positioning, and according to the time difference , gravity acceleration , real-time acceleration vector of the vehicle end , real-time attitude matrix vector of the vehicle end , the UAV end positioning position And the UAV end real-time speed Calculate the actual precise position of the UAV end , the time difference between the UAV end receiving the data information of the vehicle end , the driving dynamics of the vehicle end and the flight dynamics of the UAV end Positioning compensation calculation to obtain the actual precise position of the UAV end , further make the actual precise position of the UAV end Can achieve 1-2 centimeter level precision positioning, which can guarantee the UAV end to accurately land in the storage box of the vehicle end. Therefore, the vehicle-mounted UAV precise positioning control device can perform RTK differential processing and positioning compensation on the UAV end real-time position , so as to accurately position the actual precise position of the UAV end , so as to accurately navigate the UAV end to accurately land in the storage box of the vehicle end, thereby improving the precision of the vehicle-mounted UAV autonomous landing.

[0017] Further, the actual precise position .

[0018] Further, the UAV end is also provided with a magnetic sensor, which is used for positioning the direction of the UAV end; when it is determined that the UAV end is separated from the storage box to perform a flight task, the magnetic force is opened; and / or when it is determined that the UAV end is located in the storage box, the magnetic force of the UAV end is closed.

[0019] From the above scheme, when it is determined that the UAV end is separated from the storage box to perform a flight task, the magnetic force of the UAV end is opened, so that the magnetic force, the UAV end GNSS device and the UAV end IMU device of the UAV end constitute a combined navigation system, so that the UAV end can autonomously position and navigate to perform a flight task. When it is determined that the UAV end is located in the storage box, the magnetic force of the UAV end is closed, so as to avoid the data acquisition and transmission between the double-antenna GNSS device of the vehicle end and the UAV end GNSS device of the UAV end being interfered by the strong magnetic interference generated by the opening of the magnetic sensor, thereby quickly acquiring and transmitting data to ensure normal and rapid take-off of the UAV end.

[0020] Further, the UAV end is also provided with a UAV end IMU device; the double-antenna GNSS device acquires the real-time position of the vehicle , vehicle real-time speed , and vehicle real-time heading information; when determining that the storage box is opened and the UAV end is ready for takeoff, the machine end GNSS device performs an initialization operation to obtain the initialization position of the UAV end , initialization speed , and initialization heading information, while the machine end IMU device obtains the initialization pitch angle and the initialization roll angle of the UAV end , initialization pitch angle , and initialization roll angle , initialization speed , initialization heading information , initialization pitch angle , and initialization roll angle , the current vehicle real-time position is taken as the initialization position of the UAV end , the current vehicle real-time speed is taken as the initialization speed of the UAV end , and the current vehicle real-time heading information is taken as the initialization heading information of the UAV end.

[0021] Further, when determining that the storage box is opened and the UAV end is ready for takeoff, the machine end GNSS device obtains the real-time ephemeris information and the real-time observation information of the double-antenna GNSS device, so that the UAV end is in a hot start state.

[0022] From the above scheme, it can be seen that the machine end GNSS device of the UAV end obtains the current real-time ephemeris information and the real-time observation information of the double-antenna GNSS device of the vehicle end, so that the UAV end is in a hot start state, so that the machine end GNSS device of the UAV end does not need to perform a self-searching operation, directly obtains the current real-time ephemeris information and the real-time observation information from the double-antenna GNSS device of the vehicle end, so that the machine end GNSS device of the UAV end can quickly search for stars to obtain the current real-time ephemeris information and the real-time observation information, so that the machine end GNSS device of the UAV end can quickly locate, and the function of quick takeoff is realized. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structural schematic diagram of the vehicle-mounted UAV system of the present application.

[0024] Figure 2 is a structural schematic diagram of the vehicle end in the vehicle-mounted UAV system of the present application.

[0025] Figure 3 is a structural schematic diagram of the UAV end in the vehicle-mounted UAV system of the present application.

[0026] Figure 4is a flowchart of an embodiment of the vehicle-mounted unmanned aerial vehicle precise positioning control method of the present application.

[0027] The present application is further described below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0028] Embodiment of the vehicle-mounted unmanned aerial vehicle precise positioning control method: Referring to Figures 1 to 3 , the vehicle-mounted unmanned aerial vehicle system of the present embodiment includes a vehicle-mounted end 1 and an unmanned aerial vehicle end 3, the vehicle-mounted end 1 is provided with a storage and transportation box 2, a central control system 11, a dual-antenna GNSS device 12 and a vehicle end IMU device 13, the unmanned aerial vehicle end 3 can be located in the storage and transportation box 2, and the unmanned aerial vehicle end 3 is provided with a flight control system 31, a machine end GNSS device 32, a magnetic sensor 33 and a machine end IMU device 34.

[0029] Among them, the central control system 11 of the vehicle-mounted end 1 of the present embodiment is used to control the vehicle-mounted end 1 to drive and interact information with the flight control system 31 of the unmanned aerial vehicle end 3, the dual-antenna GNSS device 12 of the vehicle-mounted end 1 is used to obtain the real-time position , real-time speed , real-time heading information, real-time ephemeris information and real-time observation information of the vehicle-mounted end 1, and the dual-antenna GNSS device 12 of the vehicle-mounted end 1 and the machine end GNSS device 32 of the unmanned aerial vehicle end 3 can interact information, the machine end IMU device 34 of the vehicle-mounted end 1 is used to obtain the real-time acceleration vector and real-time attitude matrix vector of the vehicle-mounted end 1. Specifically, the machine end GNSS device 32 of the unmanned aerial vehicle end 3 and the dual-antenna GNSS device 12 of the vehicle-mounted end 1 transmit data information to each other through wireless communication technology, the transmitted data information includes but is not limited to: real-time position, real-time speed, real-time heading information, real-time ephemeris information, real-time observation information, etc.

[0030] And the flight control system 31 of the unmanned aerial vehicle end 3 of the present embodiment is used to control the unmanned aerial vehicle end 3 to fly and interact information with the central control system 11 of the vehicle-mounted end 1, the machine end GNSS device 32 of the unmanned aerial vehicle end 3 is used to obtain the machine end real-time position and machine end real-time speed of the unmanned aerial vehicle end 3, the machine end IMU device 34 of the unmanned aerial vehicle end 3 obtains the pitch angle and roll angle of the unmanned aerial vehicle end 3, and the differential module of the unmanned aerial vehicle end 3 of the present embodiment can be integrated in the flight control system 31 or the machine end GNSS device 32 of the unmanned aerial vehicle end 3, and the RTK module of the unmanned aerial vehicle end 3 can be integrated in the flight control system 31 or the machine end GNSS device 32 of the unmanned aerial vehicle end 3.

[0031] Specifically, GNSS device, for global navigation satellite system, including one or more satellite constellation and its support system required for specific work enhancement, is able to provide all-weather three-dimensional coordinates and speed and time information for users at any location on the earth's surface or near space, is the air-based radio navigation positioning system, is the general term for satellite navigation system capable of global coverage.

[0032] IMU device, for inertial measurement device, is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of the object. Generally, an IMU device includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signal of the object in the independent three-axis carrier coordinate system, and the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system. The angular velocity and acceleration of the object in three-dimensional space are measured, and the attitude of the object is calculated.

[0033] Magnetic sensor 33, also known as geomagnetic, magnetometer, can be used to test the magnetic field strength and direction, and the azimuth of the positioning device. The principle of magnetic sensor 33 is similar to that of a compass, which can measure the included angle between the current device and the four directions of east, south, west and north.

[0034] RTK module, using real-time dynamic carrier phase difference technology, is a difference method for real-time processing of carrier phase observation of two measurement stations. The carrier phase collected by the reference station is sent to the receiver for difference calculation. This is a new and commonly used satellite positioning measurement method. The previous static, fast static and dynamic measurement all need to be calculated after the event to obtain centimeter-level accuracy. RTK is a measurement method that can obtain centimeter-level positioning accuracy in the field in real time. It uses a carrier phase dynamic real-time difference method.

[0035] Referring to Figure 4 The flowchart of the vehicle-mounted unmanned aerial vehicle precise positioning control method is as follows.

[0036] In step S11, before takeoff, the unmanned aerial vehicle end 3 is located in the storage and transportation box 2 of the vehicle end 1, the dual-antenna GNSS device 12 obtains the real-time position , real-time speed , real-time heading information, real-time ephemeris information and real-time observation information of the vehicle end 1, and the vehicle end IMU device 13 of the vehicle end 1 obtains the real-time acceleration vector and real-time attitude matrix vector At this time, the UAV end 3 located in the storage and transportation box 2 of the vehicle-mounted end 1 can be in a storage and transportation state or a charging state, and at this time, the machine end GNSS device 32, the magnetic sensor 33 and the machine end IMU device 34 of the UAV end 3 are all in a closed state, so as to avoid the strong magnetic interference generated by the opening of the magnetic sensor 33 to the data acquisition and transmission of the double-antenna GNSS device 12 and the vehicle end IMU device 13 of the vehicle-mounted end 1, and further to ensure the accuracy and stability of the data acquisition and transmission of the double-antenna GNSS device 12 and the vehicle end IMU device 13 of the vehicle-mounted end 1.

[0037] Specifically, the ephemeris information is the ephemeris information of the satellite 4, also known as two-line orbital data (TLE, Two-Line Orbital Element), which is an expression for describing the position and velocity of a space flying body - a two-line orbital data system. The mathematical relationship between the six orbital parameters of Kepler's law determines the time, coordinate, direction, speed and other parameters of the flying body, which can accurately calculate, predict, depict and track the running state of the satellite 4, the flying body, such as time, position and speed. And the observation information includes the observation information of pseudo-range measurement, carrier phase measurement and Doppler measurement.

[0038] In step S12, the storage and transportation box 2 is opened and the UAV end 3 is ready to take off, at this time, the machine end GNSS device 32 and the machine end IMU device 34 of the UAV end 3 are turned on, then the machine end GNSS device 32 of the UAV end 3 acquires the current real-time ephemeris information and real-time observation information of the double-antenna GNSS device 12 of the vehicle-mounted end 1, so that the UAV end 3 is in a hot start state, so that the machine end GNSS device 32 of the UAV end 3 does not need to perform a self-star search operation, and directly acquires the current real-time ephemeris information and real-time observation information from the double-antenna GNSS device 12 of the vehicle-mounted end 1, so that the machine end GNSS device 32 of the UAV end 3 can quickly search for stars to acquire the current real-time ephemeris information and real-time observation information, so that the machine end GNSS device 32 of the UAV end 3 can quickly locate, and realize the function of quick take-off.

[0039] When the storage and transportation box 2 is opened and the UAV end 3 is ready to take off, that is, the UAV end 3 is still located in the storage and transportation box 2 of the vehicle-mounted end 1, at this time, the magnetic sensor 33 of the UAV end 3 is still in a closed state, so as to avoid the strong magnetic interference generated by the opening of the magnetic sensor 33 to the data acquisition and transmission between the double-antenna GNSS device 12 of the vehicle-mounted end 1 and the machine end GNSS device 32 of the UAV end 3, and further to quickly perform data acquisition and transmission to ensure the normal and rapid take-off of the UAV end 3.

[0040] And when the storage and transportation box 2 is opened and the UAV end 3 is ready to take off, the machine end GNSS device 32 of the UAV end 3 performs an initialization operation to acquire the initialization position , the initialization speed and the initial heading information. Meanwhile, the machine end IMU device 34 of the UAV end 3 acquires the initial pitch angle and the initial roll angle .

[0041] Specifically, when the machine end GNSS device 32 of the UAV end 3 performs the initialization operation, the initialization operation includes: taking the current vehicle real-time position as the initial position of the UAV end 3 , taking the current vehicle real-time speed as the initial speed of the UAV end 3 , and taking the current vehicle real-time heading information as the initial heading information of the UAV end 3.

[0042] Synchronously, when the machine end GNSS device 32 of the UAV end 3 is turned on, the differential module of the UAV end 3 can acquire the time difference of the data information received by the machine end GNSS device 32 from the double-antenna GNSS device 12 . Since the double-antenna GNSS device 12 of the vehicle end 1 transmits data information to the machine end GNSS device 32 of the UAV end 3 through wireless transmission technology, a certain time difference will be generated due to transmission delay . This time difference can be calculated by the PPS second pulse of the UAV end 3 and the time difference of the data information received by the UAV end 3.

[0043] After step S13 is performed, the flight control system 31 of the UAV end 3 controls the UAV end 3 to take off from the storage box 2 based on the initial position , the initial speed , the initial pitch angle and the initial roll angle .

[0044] After step S14 is performed, the UAV end 3 performs a flight task after leaving the storage box 2 of the vehicle end 1, and the magnetizer of the UAV end 3 is controlled to be turned on. The magnetizer, the machine end GNSS device 32 and the machine end IMU device 34 of the UAV end 3 form a combined navigation system, so that the UAV end 3 can perform autonomous positioning and navigation to perform a flight task.

[0045] Meanwhile, the machine end GNSS device 32 of the UAV end 3 acquires the machine end real-time position and the machine end real-time speed of the UAV end 3, and the RTK module of the UAV end 3 performs RTK differential processing on the machine end real-time position to acquire the machine end positioning position Specifically, the RTK module of the UAV 3 uses the dual-antenna GNSS device 12 of the vehicle 1 and the GNSS device 32 of the UAV 3 to form a mobile base station mode for difference calculation, thereby obtaining the UAV 3's terminal positioning position with centimeter-level positioning accuracy in real time. .

[0046] The positioning position of the drone terminal 3 is obtained in real time with centimeter-level positioning accuracy After that, according to the time difference , gravitational acceleration , Real-time acceleration vector of vehicle terminal 1 , the real-time posture matrix vector of the vehicle terminal 1 , machine end positioning position And the real-time speed of the machine The vehicle-side IMU device 13 of the vehicle-mounted terminal 1 calculates and obtains the actual precise position of the drone terminal 3 .

[0047] Specifically, the actual precise position of the drone terminal 3 in this embodiment The calculation formula is as follows: .

[0048] Among them, the acceleration due to gravity It is 9.80m / s².

[0049] Since the vehicle-mounted terminal 1 and the drone-mounted terminal 3 are both located in three-dimensional space, the vehicle-mounted terminal 1 has an XYZ axis vector, and the drone-mounted terminal 3 also has an XYZ axis vector. The position in each axis direction of the XYZ axis is obtained by obtaining the corresponding vector data of the same axis. The actual precise position of the drone-mounted terminal 3 in the axis can be obtained by performing corresponding calculations using the above formula. .

[0050] The precise positioning control method of the vehicle-mounted UAV in this embodiment first calculates the real-time position of the UAV terminal 3. Perform RTK differential processing to obtain the positioning position of UAV 3 , so that the drone terminal 3 is positioned at the Achieve centimeter-level precision positioning, and then based on the time difference , gravitational acceleration , Real-time acceleration vector of vehicle terminal 1 , the real-time posture matrix vector of the vehicle terminal 1 , machine end positioning position And the real-time speed of the machine Calculate and obtain the actual precise position of the drone terminal 3 , which is the time difference between the drone terminal 3 receiving the data information of the vehicle terminal 1 , the flight dynamic of the vehicle end 1 and the flight dynamic of the unmanned aerial vehicle end 3 to the unmanned aerial vehicle end 3 The positioning compensation calculation is performed to obtain the actual accurate position of the unmanned aerial vehicle end 3 , further enabling the actual accurate position of the unmanned aerial vehicle end 3 to achieve an accuracy of 1-2 centimeters, providing a guarantee for the unmanned aerial vehicle end 3 to accurately land in the storage and transportation box 2 of the vehicle end 1.

[0051] Step S14 is performed, and the unmanned aerial vehicle end 3 executes the return landing instruction, and then based on the actual accurate position of the unmanned aerial vehicle end 3 , the unmanned aerial vehicle end 3 is accurately landed in the storage and transportation box 2 of the vehicle end 1.

[0052] Therefore, the vehicle-mounted unmanned aerial vehicle accurate positioning control method can perform RTK differential processing and positioning compensation on the real-time position of the unmanned aerial vehicle end 3 , thereby accurately positioning the actual accurate position of the unmanned aerial vehicle end 3 , accurately guiding the unmanned aerial vehicle end 3 to accurately land in the storage and transportation box 2 of the vehicle end 1, and further improving the accuracy of the autonomous landing of the vehicle-mounted unmanned aerial vehicle.

[0053] Vehicle-mounted unmanned aerial vehicle accurate positioning control device embodiment: Referring to Figures 1 to 3 , the vehicle-mounted unmanned aerial vehicle accurate positioning control device includes a vehicle-mounted unmanned aerial vehicle system, which includes a vehicle end 1 and an unmanned aerial vehicle end 3. The vehicle end 1 is provided with a storage and transportation box 2, a central control system 11, a dual-antenna GNSS device 12, and a vehicle end IMU device 13. The unmanned aerial vehicle end 3 can be located in the storage and transportation box 2, and the unmanned aerial vehicle end 3 is provided with a flight control system 31, a vehicle end GNSS device 32, a magnetic sensor 33, and a vehicle end IMU device 34.

[0054] Among them, the central control system 11 of the vehicle end 1 is used to control the vehicle end 1 to drive and exchange information with the flight control system 31 of the unmanned aerial vehicle end 3, the dual-antenna GNSS device 12 of the vehicle end 1 is used to obtain the real-time position , the real-time speed , the real-time heading information, the real-time ephemeris information and the real-time observation information of the vehicle, and the dual-antenna GNSS device 12 of the vehicle end 1 and the vehicle end GNSS device 32 of the unmanned aerial vehicle end 3 can exchange information, and the vehicle end IMU device 34 of the vehicle end 1 is used to obtain the real-time acceleration vector and real-time attitude matrix vector Specifically, the UAV end 3 machine end GNSS device 32 and the vehicle-mounted end 1 double-antenna GNSS device 12 transmit data information to each other through wireless communication technology, and the transmitted data information includes but is not limited to: real-time position, real-time speed, real-time heading information, real-time ephemeris information, real-time observation information, etc.

[0055] Also, the flight control system 31 of the UAV end 3 is used to control the UAV end 3 flight and interact with the central control system 11 of the vehicle-mounted end 1, the machine end GNSS device 32 of the UAV end 3 is used to obtain the machine end real-time position and machine end real-time speed of the UAV end 3, the machine end IMU device 34 of the UAV end 3 obtains the pitch angle and roll angle of the UAV end 3, and the differential module of the UAV end 3 can be integrated in the flight control system 31 of the UAV end 3 or the machine end GNSS device 32, and the RTK module of the UAV end 3 can be integrated in the flight control system 31 of the UAV end 3 or the machine end GNSS device 32.

[0056] Specifically, GNSS is a global navigation satellite system, including one or more satellite constellations and the enhancement system required to support specific work, is an air-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates and speed and time information at any location on the earth's surface or near space, and is a general term for satellite navigation systems that can achieve global coverage.

[0057] IMU device is an inertial measurement device, which is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object. Generally, an IMU device contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signal of the object in the independent three-axis coordinate system of the carrier, while the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system. The angular velocity and acceleration of the object in three-dimensional space are measured, and the attitude of the object is calculated.

[0058] Magnetic sensor 33, also known as geomagnetic, magnetometer, can be used to test the strength and direction of the magnetic field, and the orientation of the positioning device. The principle of the magnetic sensor 33 is similar to that of the compass, which can measure the included angle between the current device and the four directions of east, south, west and north.

[0059] The RTK module utilizes a real-time dynamic carrier phase difference technology, is a difference method of processing carrier phase observation of two measurement stations in real time, sends the carrier phase collected by the reference station to the receiver, and calculates the difference to obtain the coordinates. This is a new and commonly used satellite positioning measurement method. The previous static, fast static and dynamic measurement all need to be calculated after the event to obtain centimeter-level accuracy. RTK is a measurement method that can obtain centimeter-level positioning accuracy in the field in real time. It uses a carrier phase dynamic real-time difference method.

[0060] Referring to Figure 4 The vehicle-mounted unmanned aerial vehicle precise positioning control device of the embodiment can perform the following method steps.

[0061] Step S11 is performed. Before takeoff, the unmanned aerial vehicle end 3 is located in the storage and transportation box 2 of the vehicle end 1. The double-antenna GNSS device 12 obtains the real-time position , real-time speed , real-time heading information, real-time ephemeris information and real-time observation information of the vehicle end 1. The vehicle end IMU device 13 of the vehicle end 1 obtains the real-time acceleration vector and real-time attitude matrix vector of the vehicle end 1. At this time, the unmanned aerial vehicle end 3 located in the storage and transportation box 2 of the vehicle end 1 can be in a storage and transportation state or a charging state. At this time, the machine end GNSS device 32, the magnetic sensor 33 and the machine end IMU device 34 of the unmanned aerial vehicle end 3 are all in a closed state, so as to avoid the strong magnetic interference generated by the opening of the magnetic sensor 33 on the data acquisition and transmission of the double-antenna GNSS device 12 and the vehicle end IMU device 13 of the vehicle end 1, and further ensure the accuracy and stability of the data acquisition and transmission of the double-antenna GNSS device 12 and the vehicle end IMU device 13 of the vehicle end 1.

[0062] Specifically, the ephemeris information is the ephemeris information of the satellite 4, also known as two-line orbital data (TLE, Two-Line Orbital Element), which is an expression for describing the position and velocity of a space flying body—two-line orbital data system. The mathematical relationship between the six orbital parameters of Kepler's law determines the time, coordinate, orientation, speed and other parameters of the flying body. It can accurately calculate, predict, depict and track the running state of the satellite 4, the flying body, such as time, position and speed. In addition, the observation information includes pseudo-range measurement, carrier phase measurement and Doppler measurement observation information.

[0063] When the storage and transportation box 2 is opened and the UAV end 3 is ready for takeoff, the GNSS device 32 and the IMU device 34 of the UAV end 3 are turned on, and the GNSS device 32 of the UAV end 3 acquires the current real-time ephemeris information and real-time observation information of the dual-antenna GNSS device 12 of the vehicle end 1, so that the UAV end 3 is in a hot start state, and the GNSS device 32 of the UAV end 3 does not need to perform a self-star search operation, directly acquires the current real-time ephemeris information and real-time observation information from the dual-antenna GNSS device 12 of the vehicle end 1, so that the GNSS device 32 of the UAV end 3 can quickly search for stars to acquire the current real-time ephemeris information and real-time observation information, so that the GNSS device 32 of the UAV end 3 can quickly locate, and the function of quick takeoff is realized.

[0064] When the storage and transportation box 2 is opened and the UAV end 3 is ready for takeoff, the magnetic sensor 33 of the UAV end 3 is still in a closed state, so that the data acquisition and transmission between the dual-antenna GNSS device 12 of the vehicle end 1 and the GNSS device 32 of the UAV end 3 are not interfered by the strong magnetic interference generated by the opening of the magnetic sensor 33, and the data acquisition and transmission can be quickly performed, so as to ensure that the UAV end 3 takes off normally and quickly.

[0065] In addition, when the storage and transportation box 2 is opened and the UAV end 3 is ready for takeoff, the GNSS device 32 of the UAV end 3 performs an initialization operation to acquire the initialization position , the initialization speed and the initialization heading information of the UAV end 3. At the same time, the IMU device 34 of the UAV end 3 acquires the initialization pitch angle and the initialization roll angle of the UAV end 3.

[0066] Specifically, when the GNSS device 32 of the UAV end 3 of the embodiment performs the initialization operation, the initialization operation includes: taking the current vehicle real-time position as the initialization position of the UAV end 3, taking the current vehicle real-time speed as the initialization speed of the UAV end 3, and taking the current vehicle real-time heading information as the initialization heading information of the UAV end 3.

[0067] Synchronously, when the GNSS device 32 of the UAV end 3 is turned on, the differential module of the UAV end 3 can acquire the time difference Due to the transmission delay, a time difference is generated during the data transmission process from the dual-antenna GNSS device 12 of the vehicle terminal 1 to the drone terminal 3 through wireless transmission technology The time difference can be calculated by the PPS second pulse of the drone terminal 3 and the time difference between the data received by the drone terminal 3.

[0068] In step S13, the flight control system 31 of the drone terminal 3 controls the drone terminal 3 to take off from the storage box 2 based on the initialized position , the initialized speed , the initialized heading information, the initialized pitch angle and the initialized roll angle .

[0069] In step S14, the drone terminal 3 performs a flight task after leaving the storage box 2 of the vehicle terminal 1, and the magnetizer of the drone terminal 3 is turned on, so that the magnetizer, the drone terminal GNSS device 32 and the drone terminal IMU device 34 of the drone terminal 3 form a combined navigation system to enable the drone terminal 3 to autonomously position and navigate to perform the flight task.

[0070] At the same time, the drone terminal GNSS device 32 of the drone terminal 3 obtains the drone terminal real-time position and the drone terminal real-time speed , and the RTK module of the drone terminal 3 performs RTK differential processing on the drone terminal real-time position to obtain the drone terminal positioning position . Specifically, the RTK module of the drone terminal 3 forms a mobile base station mode by using the dual-antenna GNSS device 12 of the vehicle terminal 1 and the drone terminal GNSS device 32 of the drone terminal 3 to perform difference solving, so as to obtain the drone terminal positioning position with centimeter-level positioning accuracy in real time.

[0071] After obtaining the drone terminal positioning position with centimeter-level positioning accuracy in real time, the actual accurate position of the drone terminal 3 is calculated and obtained by the vehicle terminal 1 based on the time difference , the gravity acceleration , the real-time acceleration vector of the vehicle terminal 1 , the real-time attitude matrix vector of the vehicle terminal 1 , the drone terminal positioning position and the drone terminal real-time speed .

[0072] Specifically, the actual accurate position The calculation formula is as follows: .

[0073] wherein the gravitational acceleration is 9.80 m / s².

[0074] Since the vehicle-mounted end 1 and the UAV end 3 are located in a three-dimensional space, the vehicle-mounted end 1 has XYZ axis vectors, and the UAV end 3 also has XYZ axis vectors, and the positions in each axis direction of the XYZ axis, the corresponding coaxial vector data is obtained, and the actual accurate position of the UAV end 3 in the axis direction can be obtained by corresponding calculation through the foregoing formula .

[0075] The vehicle-mounted UAV precise positioning control device of the embodiment first performs RTK differential processing on the machine end real-time position of the UAV end 3 to obtain the machine end positioning position of the UAV end 3 , so that the machine end positioning position of the UAV end 3 reaches centimeter-level accurate positioning, and then the time difference , the gravitational acceleration , the real-time acceleration vector of the vehicle-mounted end 1 , the real-time attitude matrix vector of the vehicle-mounted end 1 , the machine end positioning position , and the machine end real-time speed are used to calculate and obtain the actual accurate position of the UAV end 3 , that is, the time difference , the driving dynamics of the vehicle-mounted end 1, and the flight dynamics of the UAV end 3 are used to perform positioning compensation calculation on the machine end positioning position of the UAV end 3 to obtain the actual accurate position of the UAV end 3 , so that the actual accurate position of the UAV end 3 can reach 1-2 centimeter-level accurate positioning, thereby providing protection for the UAV end 3 to accurately land in the storage and transportation box 2 of the vehicle-mounted end 1.

[0076] In step S14, the UAV end 3 executes the homeward landing instruction, and based on the actual accurate position of the UAV end 3 , the UAV end 3 is controlled to accurately land in the storage and transportation box 2 of the vehicle-mounted end 1.

[0077] Therefore, the vehicle-mounted UAV precise positioning control device of the embodiment can perform RTK differential processing and positioning compensation on the machine end real-time position of the UAV end 3, so as to accurately position the actual accurate position of the UAV end 3 The unmanned aerial vehicle end 3 is precisely landed in the storage and transportation box 2 of the vehicle end 1, and the precision of autonomous landing of the vehicle unmanned aerial vehicle is improved.

[0078] The above embodiments are only preferred examples of the present application, and are not intended to limit the scope of the present application. Any equivalent changes or modifications made in the structure, features and principles of the present application within the scope of the present application should be included in the scope of the present application.

Claims

1. A vehicle-mounted UAV precise positioning control method, wherein the vehicle-mounted UAV system includes a vehicle-mounted terminal and a UAV terminal, and is characterized by: The vehicle-mounted end is provided with a storage and transportation box, and the drone end can be located in the storage and transportation box; The vehicle-mounted UAV precise positioning control method includes: When it is determined that the UAV has left the storage box to perform a flight mission, the real-time position of the UAV is obtained. and real-time speed on the machine side , the real-time location of the terminal Perform RTK differential processing to obtain the positioning position of the UAV end ; According to the time difference , gravitational acceleration , the real-time acceleration vector of the vehicle-mounted terminal 、The real-time posture matrix vector of the vehicle terminal , the terminal positioning position And the real-time speed of the machine end , calculate and obtain the actual precise position of the drone ; The time difference It is the time difference between the UAV end and the vehicle-mounted end.

2. The precise positioning control method for a vehicle-mounted UAV according to claim 1, characterized in that: The actual precise location .

3. The precise positioning control method for a vehicle-mounted UAV according to claim 1, characterized in that: When it is determined that the drone is separated from the storage and transportation box to perform a flight mission, the magnet of the drone is turned on; and / or, when it is determined that the drone end is located in the storage and transportation box, the magnetizer of the drone end is turned off; The magnetometer is used to locate the orientation of the drone end.

4. The method for precise positioning and control of a vehicle-mounted UAV according to any one of claims 1 to 3, characterized in that: The vehicle-mounted UAV precise positioning control method further includes: Get the real-time location of the vehicle on the vehicle terminal , real-time vehicle speed and vehicle real-time heading information; When it is determined that the storage box is opened and the drone is ready to take off, the drone performs an initialization operation to obtain the initialization position of the drone. , initialization speed And initialize the heading information, and at the same time obtain the initialization pitch angle of the drone end and initialize the roll angle Then the UAV end is based on the initialization position , the initialization speed , the initialization heading information, the initialization pitch angle and the initialization roll angle Taking off to detach from the storage and transportation box; The initialization operation includes: As the initialization position of the drone end , the current real-time speed of the vehicle As the initialization speed of the drone , using the current real-time heading information of the vehicle as the initialization heading information of the UAV end.

5. The precise positioning control method for a vehicle-mounted UAV according to claim 4, characterized in that: When it is determined that the storage and transportation box is opened and the UAV end is ready to take off, the UAV end obtains the real-time ephemeris information and real-time observation information of the vehicle-mounted end, so that the UAV end is in a hot start state.

6. A vehicle-mounted UAV precise positioning control device, comprising a vehicle-mounted UAV system, wherein the vehicle-mounted UAV system comprises a vehicle-mounted terminal and a UAV terminal, characterized in that: The vehicle-mounted end is provided with a storage and transportation box, a dual-antenna GNSS device and a vehicle-end IMU device. The drone end can be located in the storage and transportation box, and the drone end is provided with an aircraft-end GNSS device. The aircraft-end GNSS device and the dual-antenna GNSS device transmit data information to each other. When it is determined that the UAV is separated from the storage box to perform a flight mission, the GNSS device on the UAV obtains the real-time position of the UAV and real-time speed on the machine side The RTK module on the UAV side measures the real-time position of the UAV side. Perform RTK differential processing to obtain the positioning position of the UAV end ; According to the time difference , gravitational acceleration , the real-time acceleration vector of the vehicle-mounted terminal 、The real-time posture matrix vector of the vehicle terminal , the terminal positioning position And the real-time speed of the machine end The vehicle-side IMU device calculates and obtains the actual precise position of the drone-side ; The vehicle-side IMU device is used to obtain the real-time acceleration vector and the real-time posture matrix vector The differential module on the UAV side obtains the time difference of the UAV side GNSS device receiving the data information of the dual-antenna GNSS device. .

7. The vehicle-mounted UAV precise positioning control device according to claim 6, characterized in that: The actual precise location .

8. The vehicle-mounted UAV precise positioning control device according to claim 6, characterized in that: The drone end is also provided with a magnetic sensor, which is used to locate the orientation of the drone end; When it is determined that the UAV has separated from the storage and transportation box to perform a flight mission, the magnetizer is turned on; And / or, when it is determined that the drone end is located in the storage and transportation box, the magnetizer of the drone end is turned off.

9. The vehicle-mounted UAV precise positioning control device according to any one of claims 6 to 8, characterized in that: The drone is also provided with an organic IMU device; The dual-antenna GNSS device obtains the real-time position of the vehicle on the vehicle side , real-time vehicle speed and vehicle real-time heading information; When it is determined that the storage box is opened and the UAV is ready to take off, the GNSS device on the UAV performs an initialization operation to obtain the initialization position of the UAV. , initialization speed And initialize the heading information, and at the same time the IMU device on the aircraft side obtains the initialization pitch angle of the drone side and initialize the roll angle Then the flight control system of the UAV is based on the initialization position , the initialization speed , the initialization heading information, the initialization pitch angle and the initialization roll angle Controlling the UAV to take off and detach from the storage and transportation box; The initialization operation includes: As the initialization position of the drone end , the current real-time speed of the vehicle As the initialization speed of the drone , using the current real-time heading information of the vehicle as the initialization heading information of the UAV end.

10. The vehicle-mounted UAV precise positioning control device according to claim 9, characterized in that: When it is determined that the storage box is opened and the UAV is ready to take off, the UAV GNSS device obtains the real-time ephemeris information and real-time observation information of the dual-antenna GNSS device, so that the UAV is in a hot start state.

Images